#ifndef __IMU_H
#define __IMU_H

#include "stdint.h"

extern int16_t MpuOffset[6];

void MPU6050_DeviceReset(uint8_t Reset);
void MPU6050_SetSleepEnabled(uint8_t Enable);
void MPU6050_SetClockSource(uint8_t Source);
void MPU6050_SetDlpf(uint8_t Value);
void MPU6050_SetFullScaleGyroRange(uint8_t Range);
void MPU6050_SetFullScaleAccelRange(uint8_t Range);
void MPU6050_GetGyroscopeRAW(int16_t *x, int16_t *y, int16_t *z);
void MPU6050_GetAccelerometerRAW(int16_t *x, int16_t *y, int16_t *z);
void MPU_GetInformation(float* ax, float* ay, float* az, float* gx, float* gy, float* gz);
uint8_t MPU6050_GetDeviceID();
int16_t MPU6050_GetTemperatureRAW();
float MPU6050_GetTemperatureCelsius();
void MPU6050_Init();

#endif 